version: 66.12
revision: CLOWNFISH
glider: 574
mission: 23
dive: 274
start: 7 6 117 14 58 43
data:
$ID,574
$MISSION,23
$DIVE,274
$N_DIVES,0
$STOP_T,0
$D_SURF,3
$D_FLARE,3
$D_TGT,500
$D_ABORT,1050
$D_NO_BLEED,500
$D_BOOST,5
$T_BOOST,0
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,167
$T_MISSION,177
$T_ABORT,360
$T_TURN,500
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,0
$APOGEE_PITCH,0
$MAX_BUOY,180
$COURSE_BIAS,0
$GLIDE_SLOPE,17
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52970
$MASS_COMP,0
$NAV_MODE,0
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0038360001
$HD_B,0.010078
$HD_C,9.8500004e-06
$HEADING,45
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4808
$TGT_DEFAULT_LON,-12223
$TGT_AUTO_DEFAULT,0
$SM_CC,310
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,1
$NOCOMM_ACTION,0
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,400000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,143
$PITCH_MAX,3888
$C_PITCH,2835
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$P_OVSHOOT_WITHG,-6.8056469e+38
$PITCH_GAIN,50
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,245
$ROLL_MAX,3880
$ROLL_DEG,40
$C_ROLL_DIVE,1980
$C_ROLL_CLIMB,1896
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,29
$R_STBD_OVSHOOT,39
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3961
$C_VBD,2465
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_LP_IGNORE,0
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,145
$AH0_10V,96.25
$MINV_24V,19
$MINV_10V,8.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.230709
$PRESSURE_SLOPE,0.0001171049
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,15
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,50
$ALTIM_PING_DELTA,10
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,38
$DEVICE3,51
$DEVICE4,69
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,17
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043017557
$SEABIRD_T_H,0.00062339538
$SEABIRD_T_I,2.3377639e-05
$SEABIRD_T_J,2.5612862e-06
$SEABIRD_C_G,-9.9136524
$SEABIRD_C_H,1.1456692
$SEABIRD_C_I,-0.00078246131
$SEABIRD_C_J,0.00012677554
$GPS1,060717,145109,-3013.6602,3113.4133,7,1.4,7,-25.2,0.9,188.3,7,31.3
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.84
$_SM_ANGLEo,-79.8
$GPS2,060717,145755,-3013.8389,3113.3042,6,1.5,6,-25.2,2.0,180.5,7,112.1
$SPEED_LIMITS,0.326,0.336
$TGT_NAME,HEADING
$TGT_LATLONG,-3006.203,3122.131
$TGT_RADIUS,1852.000
$MHEAD_RNG_PITCHd_Wd,70.2,20000,-13.3,-9.980,-16.52,4015
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-0.48,-175.2,125,1979,1258,1116,0.0,0.0,0,73,0.00,0.00,-55.53,0.000,16386,0.000,0.000,125,1979,2733,2720,2747,0,0,0,0,0,0,26.23,28.83,26.25
$GC,76,-0.48,-175.2,125,1979,2720,2748,3.1,-2.8,7,100,9.65,0.00,-8.93,0.000,18950,0.214,0.000,2668,1973,3181,3216,3146,0,0,0,0,0,0,25.64,25.50,25.79
$GC,151,-0.48,-175.2,2667,1975,3225,3141,28.2,-31.4,18,158,0.00,0.00,0.00,0.000,6,0.000,0.000,2667,1976,3182,3225,3140,0,0,0,0,0,0,26.31,26.32,26.32
$GC,294,-0.48,-175.2,2667,1975,3227,3140,69.4,-28.6,43,304,0.00,2.10,0.00,0.000,260,0.000,0.031,2658,3393,3183,3227,3139,0,0,0,0,0,0,26.41,26.11,26.42
$GC,321,-0.48,-175.2,2658,3392,3227,3138,76.8,-25.8,47,328,0.00,2.12,0.00,0.000,1030,0.000,0.024,2659,1961,3182,3228,3137,0,0,0,0,0,0,26.20,26.14,26.22
$GC,633,-0.48,-175.2,2658,1960,3232,3136,157.6,-21.0,86,637,0.00,2.12,0.00,0.000,260,0.000,0.031,2648,3389,3184,3232,3136,0,0,0,0,0,0,26.55,26.25,26.55
$GC,756,-0.48,-175.2,2647,3393,3233,3136,172.7,-9.5,98,765,0.08,2.08,0.00,0.000,3078,0.145,0.023,2674,1970,3184,3233,3135,0,0,0,0,0,0,26.12,26.30,26.20
$GC,1065,-0.48,-175.2,2674,1969,3237,3134,211.0,-12.2,125,1070,0.00,2.05,0.00,0.000,516,0.000,0.030,2675,580,3185,3236,3134,0,0,0,0,0,0,26.60,26.33,26.62
$GC,1112,-0.48,-175.2,2674,580,3236,3134,215.6,-11.8,127,1116,0.00,2.15,0.00,0.000,1030,0.000,0.028,2668,1985,3185,3236,3134,0,0,0,0,0,0,26.39,26.36,26.41
$GC,1925,-0.48,-175.2,2667,1988,3237,3133,336.9,-13.1,168,1930,0.00,2.08,0.00,0.000,260,0.000,0.034,2657,3394,3185,3237,3133,0,0,0,0,0,0,26.72,26.41,26.73
$GC,2037,-0.48,-175.2,2656,3394,3237,3132,347.5,-10.0,173,2044,0.00,2.08,0.00,0.000,1030,0.000,0.024,2657,1972,3184,3237,3132,0,0,0,0,0,0,26.51,26.44,26.53
$GC,2845,-0.48,-175.2,2656,1972,3236,3128,475.6,-15.6,214,2850,0.00,2.10,0.00,0.000,260,0.000,0.034,2647,3394,3182,3235,3129,0,0,0,0,0,0,26.75,26.43,26.77
$GC,2872,-0.48,-175.2,2646,3394,3235,3129,478.7,-15.7,215,2877,0.10,2.08,0.00,0.000,3078,0.193,0.026,2681,1985,3182,3235,3129,0,0,0,0,0,0,26.21,26.45,26.39
$STATE,3038,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3038,begin apogee
$GC,3043,0.00,0.0,2681,1824,3235,3127,500.7,-12.4,223,3181,0.47,0.10,133.77,0.949,10246,0.128,0.072,2834,1930,2464,2536,2393,0,0,0,0,0,0,26.25,24.87,24.30
$STATE,3182,end apogee,CONTROL_FINISHED_OK
$STATE,3182,begin climb
$GC,3184,0.48,175.2,2834,1930,2535,2393,506.8,0.0,230,3333,0.40,2.40,138.27,0.952,10756,0.041,0.034,3022,494,1748,1839,1658,0,0,0,0,0,0,25.06,24.70,24.13
$GC,3463,0.48,175.2,3022,494,1824,1658,462.5,23.5,244,3468,0.10,2.12,0.00,0.000,5126,0.197,0.027,2996,1869,1741,1824,1658,0,0,0,0,0,0,25.40,25.58,25.58
$GC,4275,0.48,175.2,2995,1873,1822,1652,287.1,21.2,285,4279,0.00,2.15,0.00,0.000,260,0.000,0.033,2996,3303,1737,1822,1652,0,0,0,0,0,0,26.51,26.22,26.53
$GC,4351,0.48,175.2,2995,3303,1820,1653,271.7,20.3,289,4355,0.00,2.12,0.00,0.000,1030,0.000,0.029,3005,1893,1736,1821,1652,0,0,0,0,0,0,26.32,26.25,26.34
$GC,5163,0.48,175.4,3004,1893,1819,1649,122.2,10.0,354,5164,0.00,0.00,0.00,0.000,6,0.000,0.000,3005,1893,1734,1819,1649,0,0,0,0,0,0,26.67,26.68,26.67
$GC,5467,0.48,175.4,3004,1893,1819,1649,88.6,14.0,391,5474,0.00,2.10,0.00,0.000,260,0.000,0.030,3005,3310,1734,1819,1649,0,0,0,0,0,0,26.69,26.39,26.70
$GC,5570,0.48,175.4,3004,3310,1819,1649,73.0,14.7,410,5577,0.00,2.10,0.00,0.000,1030,0.000,0.027,3015,1894,1734,1819,1649,0,0,0,0,0,0,26.47,26.40,26.50
$GC,5907,0.48,175.4,3014,1893,1820,1649,22.7,14.3,471,5915,0.00,2.15,0.00,0.000,516,0.000,0.034,3025,494,1734,1819,1649,0,0,0,0,0,0,26.72,26.38,26.73
$GC,5965,0.48,175.4,3025,494,1815,1649,14.9,12.4,480,5975,0.10,2.15,0.00,0.000,5126,0.154,0.028,2994,1911,1732,1816,1649,0,0,0,0,0,0,26.20,26.44,26.31
$GC,6025,0.48,175.4,2994,1913,1820,1649,8.1,11.2,489,6032,0.00,0.00,0.00,0.000,6,0.000,0.000,2994,1914,1734,1820,1649,0,0,0,0,0,0,26.72,26.73,26.72
$STATE,6069,end climb,SURFACE_DEPTH_REACHED
$STATE,6069,begin surface coast
$FINISH,0.9,1.015164
$STATE,6100,end surface coast,CONTROL_FINISHED_OK
$STATE,6101,begin surface
$SM_CCo,6116,55.92,0.049,0,0,1201,310.05
$SM_GC,1.92,7.35,0.08,55.92,0.029,0.094,0.049,126,2021,1201,-8.41,-1.30,310.05,0,0,0,0,0,0,26.42,26.53,26.32
$IRIDIUM_FIX,-3000.00,3114.07,060717,145217
$TT8_MAMPS,0.025466,0.26215
$HUMID,56.18
$INTERNAL_PRESSURE,9.52185
$TCM_TEMP,20.60
$XPDR_PINGS,0
$24V_AH,24.13,23.048
$10V_AH,10.28,11.563
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.250,38.675,272.050,55.925,0.000,29.445,43.476,239.733,11.500,0.000,12.813,1255.652,3435.615,381.229,1456.578,83.092,0.000,900.217,0.000,1090.769,0.000,70.869,0.000
$DEVICE_MAMPS,214.200,94.095,951.660,48.960,0.000,91.800,160.000,223.000,420.000,0.000,32.960,12.360,2.190,12.360,38.580,49.810,0.000,16.100,0.000,16.480,0.000,30.000,0.000
$SENSORS,SBE_CT,QSP2150,WL_BB2FL,AA4330_CNF,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,346.758,76.756,338.203,343.002,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,7.490,45.690,50.180,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,342348
$DATA_FILE_SIZE,33684,501
$CAP_FILE_SIZE,69391,0
$CFSIZE,2097086464,2065334272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$WARN,PPS timeout
$GPS,060717,164254,-3015.507,3114.170,45,0.8,45,-25.2,0.5,205.2,10,337.2